UPORABA VIZUALNOG SENZORA ZA DETEKTIRANJE ORIJENTIRA KOD NAVIGACIJE MOBILNOG ROBOTA U ZATVORENOM PROSTORU
USE OF VISUAL SENSOR FOR LANDMARKS DETECTION IN MOBILE ROBOT INDOOR NAVIGATION

Summary/Abstract: Mobile robot navigation represents elementary precondition for robot autonomy, and thus the basis for the effective and efficient implementation of the required tasks. Different sensors are used for this purpose, so there are a number of different solutions to the problem of mobile robots navigation. Application of the vision sensor (camera) provides a number of useful information, which represent the structure of the environment to the navigation system through a variety of colors and shapes. This paper presents navigation systems based on line and colored objects (landmarks) tracking, through the application of different programming interfaces for creating and implementing of navigation algorithms. Through several examples in this paper, applying RobotinoView and MATLAB/Simulink programming packages, navigation systems were designed for performing identical navigational tasks, but without using same principles and methods for detection and tracking of landmarks. This type of navigation systems can have widespread use for performing tasks that require tracking of specific trajectory during movement of the robot.

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